Refrigeration tube-picking mechanism and cryogenic storage device

Abstract

The utility model provides a kind of refrigeration tube-picking mechanism and frozen storage device, refrigeration tube-picking mechanism includes driving assembly, jaw assembly and refrigeration structure, driving assembly is used to output in the movement of first direction, second direction and third direction, the first direction, the second direction and the third direction are pairwise arranged at angle, jaw assembly is used to grab box release cryopreserved sample, refrigeration structure has the storage space for placing multiple the cryopreserved sample and can refrigerate the storage space, the top of the storage space has the opening for the jaw assembly to extend into.The refrigeration tube-picking mechanism and frozen storage device provided by the utility model, the process of jaw assembly selecting cryopreserved sample is always carried out inside refrigeration structure, and then the cryopreserved sample can be kept in low-temperature environment all the time, prevent cryopreserved sample denaturation, ensure the safety of sample.

Description

Technical Field

[0001] This utility model belongs to the field of refrigeration equipment technology, and more specifically, it relates to a refrigeration pipe picking mechanism and a frozen storage device. Background Technology

[0002] In the fields of biomedicine, life sciences, and clinical medicine, cryogenic storage devices are crucial for preserving biological samples such as cells, tissues, and blood products. Current technologies typically employ liquid nitrogen cryogenic storage or mechanical cryogenic refrigeration systems, maintaining a stable cryogenic storage environment within a range of -80°C to -196°C. However, when retrieving a sample, the tube must be picked up manually or via a robotic arm. This process presents significant technical drawbacks: during sample retrieval, the sample tube is completely exposed to room temperature after being removed from the storage location, leading to rapid condensation on its surface followed by rewarming. This can cause irreversible damage, including cell ice recrystallization, protein denaturation, and degradation of bioactive substances. Therefore, maintaining a cryogenic environment throughout the entire tube picking process has become a key technological bottleneck for improving the quality of biological sample storage. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a refrigeration tube picking mechanism and a cryogenic storage device to solve the technical problems existing in the prior art, such as the sample tubes not being able to be kept in a low-temperature environment during tube picking operations, resulting in sample tube denaturation.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is: to provide a refrigeration pipe picking mechanism, comprising:

[0005] A driving component is used to output motion in a first direction, a second direction, and a third direction, wherein the first direction, the second direction, and the third direction are set at an angle to each other;

[0006] A gripper assembly is connected to the motion output terminal of the drive assembly, and the gripper assembly is used to grasp and release frozen samples; and

[0007] The refrigeration structure has a storage space for placing multiple frozen samples and is capable of cooling the storage space. The top of the storage space has an opening for the gripper assembly to extend into.

[0008] Optionally, the cooling structure includes:

[0009] An outer shell structure, the storage space of which is internally located;

[0010] A tray, disposed inside the outer shell structure, is used to hold multiple frozen samples; and

[0011] A refrigeration delivery pipeline is used to deliver refrigerant into the storage space.

[0012] Optionally, the tray has a perforated grid structure, and the output end of the refrigeration delivery pipeline is located below the tray.

[0013] Optionally, the tray includes a tray body fixed to the outer shell structure and a grid plate fixed to the tray body. The tray body has a perforated structure that exposes the grid structure of the grid plate, and the tray body is used to support multiple frozen samples.

[0014] Optionally, the outer shell structure includes a support plate disposed at the opening, the support plate having a mounting portion extending toward the opening; the disk body includes an annular fixing portion disposed on the inner wall of the outer shell structure and a receiving groove for accommodating the frozen sample, the annular fixing portion and the mounting portion being fixedly connected by a connecting post.

[0015] Optionally, the outer shell structure includes an inner liner, an outer wall disposed on the outer periphery of the inner liner, and a support plate disposed on the top of the inner liner and the outer wall, wherein the drive assembly is fixed to the support plate.

[0016] Optionally, a plurality of support columns are provided on the outer periphery of the outer wall, and the top of the support columns is fixed to the bottom of the support plate.

[0017] Optionally, the driving assembly includes a first moving module for outputting motion in the first direction, a second moving module for outputting motion in the second direction, a third moving module for outputting motion in the third direction, and a support frame. The first moving module is fixed to the support plate, the support frame is connected to the motion output end of the first moving module, the second moving module is fixed to the support frame, the third moving module is slidable relative to the support frame in the second direction, and the motion output end of the third moving module is connected to the gripper assembly.

[0018] Optionally, the number of the first moving modules is two, which are spaced apart on opposite sides of the opening along the second direction.

[0019] This utility model also provides a cryogenic storage device, which includes the above-mentioned refrigeration tube picking mechanism.

[0020] The beneficial effects of the refrigerated tube picking mechanism provided by this utility model are as follows: Compared with the prior art, the refrigerated tube picking mechanism of this utility model includes a driving component, a gripper component, and a refrigeration structure. The driving component can drive the gripper component to move upward in the first direction, the second direction, and the third direction, thereby enabling the gripper component to move to the corresponding position to perform the tube picking action. The refrigeration structure is located below the driving component and the gripper component. The frozen samples are all placed inside the refrigeration structure. The process of the gripper component picking the frozen samples always takes place inside the refrigeration structure, thereby keeping the frozen samples in a low-temperature environment, preventing the frozen samples from denaturing, and ensuring the safety of the samples. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A three-dimensional structural diagram of the refrigeration tube picking mechanism provided in an embodiment of this utility model;

[0023] Figure 2 An exploded view of the tray provided in an embodiment of this utility model;

[0024] Figure 3 This is a front view structural schematic diagram of the refrigeration tube picking mechanism provided in an embodiment of the present utility model;

[0025] Figure 4 Three-dimensional structure of the drive assembly and gripper assembly provided in the embodiments of this utility model Figure 1 ;

[0026] Figure 5 Three-dimensional structure of the drive assembly and gripper assembly provided in the embodiments of this utility model Figure 2 .

[0027] The following are the labeling elements in the figure:

[0028] 10-Drive assembly; 11-First moving module; 12-Second moving module; 13-Third moving module; 14-Support frame; 141-Support column; 142-Support beam; 20-Gripper assembly; 30-Refrigeration structure; 31-Outer shell structure; 310-Storage space; 3101-Opening; 311-Outer wall; 312-Inner liner; 32-Tray; 321-Tray body; 3211-Annular fixing part; 3212-Receiving groove; 322-Grate plate; 3221-Grate structure; 33-Support plate; 331-Mounting part; 34-Connecting column; 35-Refrigeration delivery pipeline; 36-Support column. Detailed Implementation

[0029] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0030] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0031] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] In the fields of biomedicine, life sciences, and clinical medicine, cryogenic storage devices are crucial for preserving biological samples such as cells, tissues, and blood products. Current technologies typically employ liquid nitrogen cryogenic storage or mechanical cryogenic refrigeration systems, maintaining a stable cryogenic storage environment within a range of -80°C to -196°C. However, when retrieving the target sample, the tube must be picked up manually using a robotic arm. This process presents significant technical drawbacks: during sample retrieval, the sample tube (frozen sample) is completely exposed to room temperature after being removed from its storage position. This leads to rapid condensation on its surface, accompanied by rewarming, which can cause irreversible damage such as cell recrystallization, protein denaturation, and degradation of bioactive substances. Therefore, maintaining a cryogenic environment throughout the entire tube picking process has become a key technical bottleneck for improving the quality of biological sample storage.

[0034] Cryopreserved samples are typically stored in cryopreservation boxes. A refrigeration tube-picking mechanism is used to retrieve the corresponding cryopreserved sample from the box and transfer it to a predetermined location. Before retrieving the sample from the cryopreservation box, the box must first be removed from the low-temperature zone and then placed at the refrigeration tube-picking mechanism. This causes the temperature of the sample inside the box to rise, making it prone to denaturation and damage. To alleviate or solve the above technical problems, this invention proposes a new refrigeration tube-picking mechanism. The refrigeration tube-picking mechanism includes a drive assembly 10, a gripper assembly 20, and a refrigeration structure 30. The refrigeration structure 30 has a storage space 310 for holding multiple cryopreserved samples. The storage space 310 is in a low-temperature state. The tube-picking action of the gripper assembly 20 always takes place inside the storage space 310, ensuring that each cryopreserved sample remains at a low temperature and preventing the sample from denaturing due to temperature rise.

[0035] The refrigeration tube picking mechanism provided in the embodiments of this utility model will now be described.

[0036] Please refer to the following: Figure 1 The refrigeration pipe picking mechanism includes:

[0037] Drive component 10 is used to output motion in a first direction, a second direction and a third direction, wherein the first direction, the second direction and the third direction are set at an angle to each other;

[0038] The gripper assembly 20 is connected to the motion output terminal of the drive assembly 10, and the gripper assembly 20 is used to grasp and release frozen samples; and

[0039] The cooling structure 30, the gripper assembly 20 and the drive assembly 10 are all disposed above the cooling structure 30. The cooling structure 30 has a storage space 310 for placing multiple frozen samples and is capable of cooling the storage space 310. The top of the storage space 310 has an opening 3101 for the gripper assembly 20 to extend into.

[0040] The drive assembly 10 is a power mechanism. Generally, when energized, the drive assembly 10 can output movement along a first direction, a second direction, and a third direction. The first direction, the second direction, and the third direction are set at angles to each other, which can be understood as each of the first direction, the second direction, and the third direction being different. Specifically, the drive assembly 10 is used to drive the gripper assembly 20 to move in the first direction, the second direction, and the third direction, so that the gripper assembly 20 has three degrees of freedom of movement.

[0041] The gripper assembly 20 is connected to the motion output end of the drive assembly 10. The gripper assembly 20 can open and clamp, thereby picking out the corresponding frozen sample from multiple frozen samples and performing the tube picking action.

[0042] The refrigeration structure 30 has a refrigeration function and can refrigerate the storage space 310 inside. Multiple frozen samples (which can be contained in a cryopreservation box) can first be transferred from the low temperature environment to the storage space 310 of the refrigeration structure 30, and then the gripper assembly 20 can be inserted into the storage space 310 to perform the tube picking action. This ensures that the tube picking action is always performed inside the storage space 310, and each frozen sample is kept in a low temperature environment, so that the sample will not denature due to the temperature rise.

[0043] The refrigerated tube-picking mechanism in the above embodiment includes a drive assembly 10, a gripper assembly 20, and a refrigeration structure 30. The drive assembly 10 can drive the gripper assembly 20 to move upward in a first direction, a second direction, and a third direction, thereby enabling the gripper assembly 20 to move to the corresponding position to perform the tube-picking action. The refrigeration structure 30 is located below the drive assembly 10 and the gripper assembly 20. All frozen samples are placed inside the refrigeration structure 30. The process of the gripper assembly 20 selecting frozen samples always takes place inside the refrigeration structure 30, thereby keeping the frozen samples in a low-temperature environment, preventing the frozen samples from denaturing, and ensuring the safety of the samples.

[0044] Please refer to some embodiments of this utility model. Figure 2 and Figure 3 The refrigeration structure 30 includes:

[0045] The outer shell structure 31 has a storage space 310 inside;

[0046] Tray 32, disposed inside the outer shell structure 31, and tray 32 is used to hold multiple frozen samples; and

[0047] The refrigeration delivery pipeline 35 is used to deliver refrigerant into the storage space 310.

[0048] The outer shell structure 31 is the external structure of the refrigeration structure 30, and the interior of the outer shell structure 31 forms the aforementioned storage space 310. The tray 32 is used to hold multiple frozen samples. It should be noted that frozen samples are generally placed in boxes in a low-temperature environment. When retrieving a frozen sample, the frozen box containing the target frozen sample must first be removed and placed on the tray 32. Then, the target sample is picked out from the frozen box using the refrigeration tube picking mechanism. Therefore, the tray 32's function of holding multiple frozen samples can be understood as supporting frozen boxes (with multiple slots for placing frozen samples). One end of the refrigeration delivery pipe 35 is connected to the low-temperature device, and the other end extends into the storage space 310. When preparing to pick the sample, refrigerant can be first delivered to the storage space 310 through the refrigeration delivery pipe 35 to lower the temperature within the storage space 310 to a predetermined temperature. Then, the frozen box is placed in the storage space 310.

[0049] The refrigeration structure 30 is configured as an outer shell structure 31, a tray 32, and a refrigeration delivery pipeline 35. The tray 32 can support the cryopreservation box, and the refrigeration delivery pipeline 35 can deliver refrigerant to the storage space 310, thereby keeping the cryopreservation box on the tray 32 at a low temperature.

[0050] In some embodiments, one end of the refrigeration delivery pipeline 35 is connected to a cryogenic device, which can be a cold storage device or a refrigerator.

[0051] Optionally, the cryogenic device is a liquid nitrogen storage device containing liquid nitrogen, and correspondingly, the refrigerant supplied to the storage space 310 through the refrigeration delivery pipeline 35 is liquid nitrogen.

[0052] Optionally, the cryogenic device can be a refrigerator with heat exchange function, which transfers cold energy to the refrigerant and cools the storage space 310 through the refrigerant.

[0053] Please refer to some embodiments of this utility model. Figure 2 and Figure 3 The tray 32 has a perforated grid structure 3221, and the output end of the refrigeration delivery pipe 35 is located below the tray 32. The tray 32 divides the storage space 310 inside the outer shell structure 31 into a first space and a second space, which are located above and below the tray 32, respectively. The cryopreservation box is placed above the tray 32, i.e., in the first space, and the output end of the refrigeration delivery pipe 35 is located below the tray 32, i.e., in the second space. The grid structure 3221 is generally composed of multiple spaced strip structures. Therefore, the grid structure 3221 can connect the first space and the second space. After the refrigerant enters the second space, it passes through the grid structure 3221 and enters the first space to cool the cryopreservation box.

[0054] The grid structure 3221 allows the refrigerant below the tray 32 to quickly enter the space above the tray 32, which can accelerate the cooling of the cryopreservation box. Moreover, the output end of the refrigeration delivery pipe 35 is located below the tray 32, which will not occupy the space above the tray 32, thus providing more space for the cryopreservation box.

[0055] In other embodiments, the output end of the refrigeration delivery line 35 is located above the tray 32, and the output refrigerant is delivered to the top of the tray 32 to refrigerate the cryopreservation box.

[0056] In other embodiments, a portion of the output end of the refrigeration delivery line 35 is located above the tray 32, and a portion of the output end is located below the tray 32.

[0057] Please refer to some embodiments of this utility model. Figure 3 The tray 32 includes a tray body 321 fixed to the outer shell structure 31 and a grid plate 322 fixed to the tray body 321. The tray body 321 has a perforated structure that exposes the grid structure 3221 of the grid plate 322, and the tray body 321 is used to support multiple frozen samples. The tray body 321 is the main structure of the tray 32, and it is fixed to the outer shell structure 31. The tray body 321 is also used to support frozen samples. The grid plate 322 has a grid structure 3221, which is a perforated structure. The perforated structure on the tray body 321 allows the grid structure 3221 to be exposed, thereby allowing the refrigerant to move quickly from below the tray 32 to above the tray 32.

[0058] By setting the pallet 32 ​​as a pallet body 321 and a grid plate 322, the load-bearing capacity of the pallet body 321 can be guaranteed, and the processing difficulty of the pallet 32 ​​can be reduced, resulting in lower production costs.

[0059] In some embodiments, the hole structure and the grid structure 3221 have the same shape, and the hole structure and the grid structure 3221 are completely opposite to each other.

[0060] In some embodiments, the hole structure and the grid structure 3221 are partially arranged facing each other.

[0061] In some embodiments, the shape of the hole structure is different from that of the grid structure 3221.

[0062] In other embodiments, the tray 32 has a plurality of spaced slots to form a grid structure 3221, and the tray 32 also has a placement slot for placing cryopreservation boxes.

[0063] Please refer to some embodiments of this utility model. Figures 1 to 3The outer casing structure 31 includes a support plate 33 disposed at the opening 3101, and the support plate 33 has a mounting portion 331 extending toward the opening 3101. The disk body 321 includes an annular fixing portion 3211 disposed on the inner wall of the outer casing structure 31 and a receiving groove 3212 for accommodating frozen samples. The annular fixing portion 3211 and the mounting portion 331 are fixedly connected by a connecting post 34. The support plate 33 extends toward the opening 3101 to form the mounting portion 331. It should be noted that the support plate 33 does not obstruct the opening 3101. When the support plate 33 extends toward the opening 3101, its extension direction can be toward the center of the top of the opening 3101. Thus, the mounting portion 331 is located at the top of the storage space 310. The annular fixing portion 3211 and the mounting portion 331 of the disk body 321 are fixedly connected by the connecting post 34, thereby fixing the annular fixing portion 3211 to the outer casing structure 31.

[0064] By providing a mounting part 331 on the support plate 33, the mounting part 331 is fixedly connected to the annular fixing part 3211 of the tray body 321 via a connecting post 34, thereby achieving a fixed connection between the tray 32 and the outer shell structure 31. In this way, it is not necessary to directly fix the annular fixing part 3211 to the inner wall of the outer shell structure 31, reducing the difficulty of fixing the tray 32.

[0065] In some embodiments, please refer to Figure 2 The two ends of the connecting column 34 are respectively locked to the mounting part 331 and the annular fixing part 3211 by threaded parts.

[0066] In some embodiments, please refer to Figure 2 There are multiple connecting posts 34, and the multiple connecting posts 34 are arranged around the inner wall of the outer shell structure 31.

[0067] In some embodiments, the connecting post 34 is vertically arranged, the top end of the connecting post 34 is fixedly connected to the mounting portion 331 of the support plate 33, and the bottom end of the connecting post 34 is fixedly connected to the annular fixing portion 3211.

[0068] In some embodiments, there are multiple receiving slots 3212. The receiving slots 3212 can directly hold multiple frozen samples or can hold sample boxes containing frozen samples.

[0069] In other embodiments, the tray body 321 includes an annular fixing part 3211 disposed on the inner wall of the outer shell structure 31. The annular fixing part 3211 and the bottom of the outer shell structure 31 are connected by a column. Understandably, the tray 32 is supported above the bottom of the outer shell structure 31 by the column.

[0070] Please refer to some embodiments of this utility model. Figure 2The outer shell structure 31 includes an inner liner 312, an outer wall 311 disposed around the outer periphery of the inner liner 312, and a support plate 33 disposed on the top of the inner liner 312 and the outer wall 311. The drive assembly 10 is fixed to the support plate 33. A space exists between the inner liner 312 and the outer wall 311, thus forming an insulation layer between them, preventing the cold air in the storage space 310 from easily dissipating to the outside through the inner liner 312 and the outer wall 311. The combined structure of the inner liner 312 and the outer wall 311 is equivalent to a thermos cup structure, providing excellent heat preservation and cold retention. Simultaneously, the support plate 33 supports the drive assembly 10, positioning the drive assembly 10 above the refrigeration structure 30.

[0071] By setting up an inner liner 312 and an outer wall 311, the outer shell structure 31 forms a double-layer structure, which has a better heat preservation and cold preservation effect and reduces cold loss. In addition, the support plate 33 can fix and support the drive component 10, making the structural layout more reasonable.

[0072] In some embodiments, the space between the outer wall 311 and the inner liner 312 is a vacuum or near-vacuum, so that the cold energy in the storage space 310 is not easily transferred to the outside through the outer wall 311 and the inner liner 312.

[0073] In some embodiments, the support plate 33 seals the gap between the top of the inner liner 312 and the outer wall 311, so that the inner liner 312 and the outer wall 311 are connected to each other. At the same time, the support plate 33 also has the function of supporting the drive assembly 10.

[0074] Please refer to some embodiments of this utility model. Figure 1 and Figure 2 The outer wall 311 has multiple support columns 36 on its outer periphery, with the top of each support column 36 fixed to the bottom of the support plate 33. The support columns 36 support the support plate 33. Since the support plate 33 has a drive assembly 10, it requires the support of the support columns 36 to improve its stability. In practical use, the bottom of the support column 36 can be supported on the ground or other structures close to the ground, while the top of the support column 36 is fixed to the support plate 33.

[0075] By setting a support column 36 at the bottom of the support plate 33, the support plate 33 can be supported, thereby improving the load-bearing capacity of the support plate 33 and making the drive assembly 10 more stable when installed on the support plate 33.

[0076] In some embodiments, a plurality of support columns 36 are arranged circumferentially around the outer wall 311. For example, there are four support columns 36, which are respectively arranged at different circumferential positions on the outer wall 311.

[0077] Please refer to some embodiments of this utility model. Figure 4 and Figure 5The drive assembly 10 includes a first moving module 11 for outputting motion in a first direction, a second moving module 12 for outputting motion in a second direction, a third moving module 13 for outputting motion in a third direction, and a support frame 14. The first moving module 11 is fixed to a support plate 33, and the support frame 14 is connected to the motion output end of the first moving module 11. The second moving module 12 is fixed to the support frame 14, and the third moving module 13 can slide relative to the support frame 14 along the second direction. The motion output end of the third moving module 13 is connected to the gripper assembly 20. The motion output end of the first moving module 11 and the fixed end of the second moving module 12 are connected through the support frame 14. The motion output end of the third moving module 13 is the motion output end of the drive assembly 10. When the first moving module 11 is working, it drives the support frame 14, the second moving module 12, the third moving module 13 and the gripper assembly 20 to move in the first direction; when the second moving module 12 is working, it drives the third moving module 13 and the gripper assembly 20 to move in the second direction; when the third moving module 13 is working, it drives the gripper assembly 20 to move in the third direction.

[0078] By setting up a first moving module 11, a second moving module 12, and a third moving module 13, the gripper assembly 20 can move in the first, second, and third directions, respectively. Furthermore, the motion output end of the first moving module 11 is connected to a support frame 14, which supports the installation of the second moving module 12 and the third moving module 13, making the entire drive assembly 10 more stable.

[0079] In some embodiments, the first direction, the second direction, and the third direction are arranged perpendicularly to each other, the first direction and the second direction are both horizontal, and the third direction is vertical.

[0080] In some embodiments, the first moving module 11, the second moving module 12, and the third moving module 13 may be belt assemblies, lead screw assemblies, gear and rack assemblies, etc.

[0081] Optionally, both the first moving module 11 and the second moving module 12 are belt assemblies, which can achieve a large displacement.

[0082] Optionally, the third moving module 13 is a lead screw assembly, which can achieve more precise movements.

[0083] Please refer to some embodiments of this utility model. Figure 1 , Figure 4 and Figure 5 There are two first moving modules 11, which are spaced apart on opposite sides of the opening 3101 along the second direction. Neither of the two first moving modules 11 will block the opening 3101, which can make reasonable use of the space on the support plate 33, and can also make the movement of the second moving module 12 in the first direction more stable.

[0084] In some embodiments, please refer to Figure 4 and Figure 5 The support frame 14 includes two support columns 141 and two support beams 142. The bottom ends of the two support columns 141 are respectively fixed to the motion output ends of the two first moving modules 11, and the two ends of the support beams 142 are respectively connected to the top ends of the two support columns 141. The second moving module 12 can be installed on the support beams 142.

[0085] This invention also provides a cryogenic storage device, which includes the refrigeration tube picking mechanism in any of the above embodiments. The cryogenic storage device may further include a storage cavity for storing multiple cryogenic boxes.

[0086] The cryopreservation device provided by this utility model adopts the aforementioned refrigeration tube picking mechanism. The refrigeration tube picking mechanism includes a drive component 10, a gripper component 20, and a refrigeration structure 30. The drive component 10 can drive the gripper component 20 to move upward in a first direction, a second direction, and a third direction, thereby enabling the gripper component 20 to move to the corresponding position to perform the tube picking action. The refrigeration structure 30 is located below the drive component 10 and the gripper component 20. The frozen samples are all placed inside the refrigeration structure 30. The process of the gripper component 20 picking the frozen samples always takes place inside the refrigeration structure 30, thereby keeping the frozen samples in a low-temperature environment, preventing the frozen samples from denaturing, and ensuring the safety of the samples.

[0087] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A refrigeration pipe picking mechanism, characterized in that, include: A driving component is used to output motion in a first direction, a second direction, and a third direction, wherein the first direction, the second direction, and the third direction are set at an angle to each other; A gripper assembly is connected to the motion output terminal of the drive assembly, and the gripper assembly is used to grasp and release frozen samples; and The refrigeration structure has a storage space for placing multiple frozen samples and is capable of cooling the storage space. The top of the storage space has an opening for the gripper assembly to extend into.

2. The refrigeration tube picking mechanism as described in claim 1, characterized in that, The refrigeration structure includes: An outer shell structure, the storage space of which is internally located; A tray, disposed inside the outer shell structure, is used to hold multiple frozen samples; and A refrigeration delivery pipeline is used to deliver refrigerant into the storage space.

3. The refrigeration pipe picking mechanism as described in claim 2, characterized in that, The tray has a perforated grid structure, and the output end of the refrigeration delivery pipeline is located below the tray.

4. The refrigeration pipe picking mechanism as described in claim 3, characterized in that, The tray includes a tray body fixed to the outer shell structure and a grid plate fixed to the tray body. The tray body has a perforated structure that exposes the grid structure of the grid plate, and the tray body is used to support multiple frozen samples.

5. The refrigeration pipe picking mechanism as described in claim 4, characterized in that, The outer shell structure includes a support plate disposed at the opening, the support plate having a mounting portion extending toward the opening; the disk body includes an annular fixing portion disposed on the inner wall of the outer shell structure and a receiving groove for accommodating the frozen sample, the annular fixing portion and the mounting portion being fixedly connected by a connecting post.

6. The refrigeration pipe picking mechanism as described in claim 2, characterized in that, The outer shell structure includes an inner liner, an outer wall disposed on the outer periphery of the inner liner, and a support plate disposed on the top of the inner liner and the outer wall, and the drive assembly is fixed to the support plate.

7. The refrigeration pipe picking mechanism as described in claim 6, characterized in that, The outer periphery of the outer wall is provided with a plurality of support columns, the top of which is fixed to the bottom of the support plate.

8. The refrigeration pipe picking mechanism as described in claim 6, characterized in that, The driving assembly includes a first moving module for outputting motion in the first direction, a second moving module for outputting motion in the second direction, a third moving module for outputting motion in the third direction, and a support frame. The first moving module is fixed to the support plate, the support frame is connected to the motion output end of the first moving module, the second moving module is fixed to the support frame, the third moving module is slidable relative to the support frame along the second direction, and the motion output end of the third moving module is connected to the gripper assembly.

9. The refrigeration tube picking mechanism as described in claim 8, characterized in that, The number of the first moving modules is two, which are spaced apart on opposite sides of the opening along the second direction.

10. A cryogenic storage device, characterized in that: Includes the refrigeration tube picking mechanism as described in any one of claims 1-9.

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